module_name: UXRCE-DDS Client
serial_config:
    - command: |
        if [ $SERIAL_DEV != ethernet ]; then
            set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
        else
            set UXRCE_DDS_ARGS "-t udp"
        fi
        uxrce_dds_client start ${UXRCE_DDS_ARGS}

      port_config_param:
        name: UXRCE_DDS_CFG
        group: UXRCE-DDS Client
      supports_networking: true

parameters:
    - group: UXRCE-DDS Client
      definitions:

        UXRCE_DDS_DOM_ID:
            description:
                short: uXRCE-DDS domain ID
                long: uXRCE-DDS domain ID
            category: System
            type: int32
            reboot_required: true
            default: 0

        UXRCE_DDS_KEY:
            description:
                short: uXRCE-DDS session key
                long: |
                    uXRCE-DDS key, must be different from zero.
                    In a single agent - multi client configuration, each client
                    must have a unique session key.
            category: System
            type: int32
            reboot_required: true
            default: 1

        UXRCE_DDS_PRT:
            description:
                short: uXRCE-DDS UDP port
                long: |
                    If ethernet is enabled and is the selected configuration for uXRCE-DDS,
                    the selected UDP port will be set and used.
            type: int32
            min: 0
            max: 65535
            reboot_required: true
            default: 8888
            requires_ethernet: true

        UXRCE_DDS_AG_IP:
            description:
                short: uXRCE-DDS Agent IP address
                long: |
                    If ethernet is enabled and is the selected configuration for uXRCE-DDS,
                    the selected Agent IP address will be set and used.
                    Decimal dot notation is not supported. IP address must be provided
                    in int32 format. For example, 192.168.1.2 is mapped to -1062731518;
                    127.0.0.1 is mapped to 2130706433.
            type: int32
            reboot_required: true
            default: 2130706433
            requires_ethernet: true

        UXRCE_DDS_PTCFG:
            description:
                short: uXRCE-DDS participant configuration
                long: |
                    Set the participant configuration on the Agent's system.
                    0: Use the default configuration.
                    1: Restrict messages to localhost
                       (use in combination with ROS_LOCALHOST_ONLY=1).
                    2: Use a custom participant with the profile name "px4_participant".
            category: System
            reboot_required: true
            type: enum
            values:
                0: Default
                1: Localhost-only
                2: Custom participant
            min: 0
            max: 2
            default: 0

        UXRCE_DDS_SYNCT:
            description:
                short: Enable uXRCE-DDS timestamp synchronization
                long: When enabled, uxrce_dds_client will synchronize the timestamps
                    of the incoming and outgoing messages measuring the offset
                    between the Agent OS time and the PX4 time.
            type: boolean
            category: System
            reboot_required: true
            default: 1

        UXRCE_DDS_SYNCC:
            description:
                short: Enable uXRCE-DDS system clock synchronization
                long: When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will
                    set the system clock using the agents UTC timestamp.
            type: boolean
            category: System
            reboot_required: true
            default: 0

        UXRCE_DDS_TX_TO:
            description:
                short: TX rate timeout configuration
                long: |
                    Specifies after how many seconds without sending data the DDS connection is reestablished.
                    A value less than one disables the TX rate timeout.
            type: int32
            category: System
            reboot_required: true
            default: 3
            unit: s

        UXRCE_DDS_RX_TO:
            description:
                short: RX rate timeout configuration
                long: |
                    Specifies after how many seconds without receiving data the DDS connection is reestablished.
                    A value less than one disables the RX rate timeout.
            type: int32
            category: System
            reboot_required: true
            default: -1
            unit: s